Robotic ultrasound trajectory planning for volume of interest coverage

Christoph Graumann, Bernhard Fuerst, Christoph Hennersperger, Felix Bork, Nassir Navab

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Medical robotic ultrasound offers potential to assist interventions, ease long-term monitoring and reduce operator dependency. Various techniques for remote control of ultrasound probes through telemanipulation systems have been presented in the past, however not exploiting the potential of fully autonomous acquisitions directly performed by robotic systems. In this paper, a trajectory planning algorithm for automatic robotic ultrasound acquisition under expert supervision is introduced. The objective is to compute a suitable path for covering a volume of interest selected in diagnostic images, for example by prior segmentation. A 3D patient surface point cloud is acquired using a depth camera, which is the sole prerequisite besides the volume delineation. An easily parameterizable path function generates single or multiple parallel scan trajectories capable of dealing with large target volumes. A spline is generated through the preliminary path points and is transferred to a lightweight robot to perform the ultrasound scan using an impedance control mode. The proposed approach is validated via simulation as well as on phantoms and on animal viscera.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages736-741
Number of pages6
Volume2016-June
ISBN (Electronic)9781467380263
DOIs
StatePublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Graumann, C., Fuerst, B., Hennersperger, C., Bork, F., & Navab, N. (2016). Robotic ultrasound trajectory planning for volume of interest coverage. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (Vol. 2016-June, pp. 736-741). [7487201] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487201